ESA Robotics Overviewrobotics.estec.esa.int/ASTRA/Astra2013/Presentations/... · 2013-08-16 · 2 Automation and Robotics Section European Space Agency Outline This presentation is

1

Gianfranco Visentin

Head, Automation and Robotics Section

Mechatronics and Optics Division

Mechanical Department

Technical and Quality Management Directorate

ESA Robotics Overview

2 Automation and Robotics Section�

European Space Agency�

Outline

This presentation is an introduction to the last two years of developments in the field of space robotics at ESA with respect to:

•  Planetary and Orbital missions (both in development and in study),

•  technology plans, that were derived from mission needs, and

•  technologies being currently developed

Many (but not all) of the subjects introduced will be addressed by

dedicated presentation in the conference, this presentation intends to:

–  provide an organic view of the different subjects

–  summarise important conclusions

–  provide references to the individual presentations



Planetary Missions

In the last 2 years the ExoMars mission has seen major changes. The

mission, once an ESA-NASA

cooperation, has become an ESA-

ROSKOSMOS cooperation.

The important fact is that all

undertaken rover-related

development activities are still

relevant.

All about the ExoMars mission in

today’s presentation at 09:40



Planetary Missions

Following ExoMars, three other missions targeting the Martian system are being studied. All of them have important robotics elements:

•  INSPIRE, a multi-lander mission to Mars needs a small deployment

arm

•  PHOOTPRINT, needs a large sampling arm to return samples from

Mars moon Phobos

•  Mars Precision Lander features a small, but remarkably performing

sample fetching rover also equipped with a small robot arm

Presentation on one of the SFR concepts in session Planetary Sampling I

at 14:15

All about these missions in a presentation on the Mars Robotics

Exploration Programme (MREP) today at 10:15

Mars Precision Lander Study Executive Summary

Document no: MPL-ASU-RP001, March 2012

DTI EXPORT CONTROL RATING: 9E001/9A004Rated by: Paolo D’Arrigo



Planetary Missions

Mars is not the only destination of robotic probes:

•  MarcoPolo-R aims at sample return from an asteroid. It will use a robotic

sampling mechanism.

•  Though the Lunar Lander mission did not receive funding at the last

ministerial council, ESA still intends to target the Moon through

participation to the ROSKOSMOS Luna-Resurs and Luna-Grunt missions.

Drilling technology developed for ExoMars will be adapted for the Lunar-

Resurs mission within the L-GRASP activity



Orbital Robotics

•  The European Robot Arm (ERA) is finally approaching launch, a delta Qualification Review was recently completed. All about ERA today at

11:00

•  The METERON telerobotics experiments are being developed by the

Technical & Quality Management Directorate with support from the

Human Spaceflight and Operation Directorate. Presentations on the

technologies used by METERON are in

–  Tomorrow’s session Simulation / Modelling /Visualisation I

at 09:50

–  Tomorrow’s session Control & Estimation I at 12:25

–  Friday’s session Human‐Robot Interaction at 12:05 and 12:30



Orbital Robotics

•  Since few years ESA has studied the issue of de/re-orbiting spent satellites (ROGER studies in 2001)

•  Recently the subject of Active Debris Removal (ADR) has gained

momentum, internationally and also at ESA. The CLEANSPACE initiative

addresses the need of making space activities environmentally friendly.

This includes also ADR. All about CLEANSPACE in today's

presentation at 11:25



Technology: robot arms

Most of the planetary missions require lightweight robot arms. These differ from arms developed by ESA (e.g. DEXARM) in several key performance

parameters.

ESA has started the development of DExtrous LIghtweight Arms for

exploratioN (DELIAN). DELIAN targets the development of a family of robot

joints that the realisation of diverse highly mass-constrained planetary

robot arms

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Cod. Rev. Data/Date Pag./Page

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Selex ES S.p.A., una Società Finmeccanica, proprietaria del documento, si riserva i diritti sanciti dalla Legge. Selex ES S.p.A., a Finmeccanica Company, is the owner of the present document. All rights reserved.

Modello: ECM-L4-006 rev.03 del 02/01/2013

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Arm exiting the stowage saddles

Arm approaching soil

Arm close approaching soil

Arm sampling

Figure 8-4 Some steps on the operational sequence (schematics only)

8.3 LOAD ANALYSIS

8.3.1 Operational loads During operations on Phobos, the arm is required to:

• Sustain gravity loads (almost negligible); • Apply a 15 N vertical downward force at the end effector for coring (sampling

workspace);

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Arm collecting the Scientific P/L

Arm transporting the Scientific P/L

Arm depositing the Scientific P/L on surface

Figure 6-5 Some steps on the operational sequence

6.3 LOAD ANALYSIS

6.3.1 Operational loads During operations on Mars, the arm is required to:

• Sustain gravity loads; • Apply a 10 N vertical force at the arm tip;

The evaluated worst case operational conditions are depicted in Figure 6-6. They correspond to:

• Worst case for j2 (in accordance with SD-RQ-AI-0088, section 4.3): o the horizontal extension of the arm is the maximum required (xTCP = 1.7

m), while the corresponding vertical extension is the minimum (zTCP = -0.375 m, seismometer base at -0.265 m from the terrain)

o the horizontal extension of the arm is the maximum required (xTCP = 1.7 m), while the corresponding vertical extension is the maximum (zTCP = 0.155 m, seismometer base at 0.265 m from the terrain),.

• Worst case for j3 (limb 2 fully extended)

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Arm stowed


Arm approaching cache on soil

Arm transferring the cache

Arm close approaching the cache holder

Cache deposited

Figure 5-5 Some steps of the operational sequence

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DELIAN realisations: INSPIRE, PHOOTPRINT, and SFR courtesy of SELEX ES



Technology for future rovers

•  A sample fetching rover will require speeds of locomotion

much higher than what possible today

•  An improvement of an order of magnitude in terms of range/

speed is required.

•  The SEEKER activity aimed at demonstrating that this increase

is possible with state of the art terrestrial technology. See

SEEKER presentations in today’s Navigation /

localisation I at 15:45, 16:10, 16:35

•  It is clear that not a single technological solution may provide

for such performance boost.

•  Essentially these technological solutions aim at turning all

energy available to the rover into distance travelled.

•  ESA has activated a number of activities to address different

solutions




In turning energy into increased range and speed there are 2 possible areas of improvement:

1.  Increase energy intake:

1.  Increase/maintain solar energy production

2.  Implement thermal energy production

2.  Decrease energy losses

1.  Decrease energy spent in warming up

2.  Decrease energy losses in locomotion

3.  Decrease energy losses in computation












DUSTER Dust Unseating from Solar-panels and Thermal-radiators by Exhaling Robot (DUSTER): These activities (2 parallel contracts) address the development of ultra-light robot to blow away dust from solar arrays and radiators.























MCC

The Motion Controller Chip has produced a prototype of a very compact robot joint controller that can survive at very low temperatures without need of warm-up energy. The MCC-X activity will address industrialisation of the prototype











3.  Decrease energy losses in computation AWE

Wheels are not the most efficient means to move in natural terrain. Yet we must use them. The Adaptable Wheels for Exploration (AWE) will develop wheels that can switch into different modes (e.g. stowed, steering, soft-soil, hard-soil)











3.  Decrease energy losses in computation SPARTAN SEXTANT COMPASS

The tasks of Environment Perception, Localisation and Navigation require a lot of processing power and consequently energy. The SPARTAN, SEXTANT and COMPASS activities address the use of FPGA for increasing the efficiency of these tasks. A presentation on SEXTANT is in today’s session Navigation/localisation I at 17:00




ESA continues to develop autonomous operation of rovers:

•  The Rover Autonomy Testbed (RAT) activity targets the optimal

assignment of teleoperation and autonomous functions depending on

communication constraints

•  The Ground Control Station For Autonomy (3DROCS) builds on the

successful 3DROV development to provide an environment to operate

rovers

•  The Mobile Autonomous Scientist for Terrestrial and Extraterrestrial

Research (MASTER) activity targets the development of an agent that

based on training can detect salient scientific events

•  The GOAC TRL-increase Convenience-enhancements, Hardening and Application-extension (GOTCHA) activity aims at continuing the

development of the Goal-Oriented Autonomous Controller (GOAC)

•  The AUTONOMous Technologies for HighlY Mobile Rovers

(AUTONOMY) activity aims at developing ways to manage the high

complexity of a rover locomotion system also to detect and avoid

entrapment




ESA has embarked into validation of rover systems through field testing. A first field test took place in the SEEKER activity.

A second field test will take place in the SAFER activity. This specifically

targets rehearsal of the ExoMars outcrop search-and-drill scenario.

The creation of the ESA Harwell site is an opportunity to establish a

programme of recurring field tests.



Technology: ADR

The principle “robotic” problems in ADR are related to:

•  Grasping the debris

•  Maintaining safety of the compound (debris + chaser) during

deorbitation

Considering that ESA is not the only Agency working on spacecraft

servicing, ESA has chosen to concentrate only on some of the possible

technologies (i.e. the ones not addressed by other agencies):

•  Throw-nets: a complete programme of development and validation

(includes parabolic and sounding rocket tests) has been initiated.

•  “Octopus” arms: simulation and prototyping activities are envisaged

•  Harpoons: continuation of development initiated by ASTRIUM UK



Conclusions

A long long standing mission finally getting launched.

A troubled mission getting out of the many mishaps it has experienced.

Telerobotics experiments flying to the ISS.

5 planetary missions, all featuring capital robotics elements, being studied.

ADR (which needs robotics) becoming a priority…

Is 2013, finally, the year of space robotics?

Documents

ESA Robotics Overviewrobotics.estec.esa.int/ASTRA/Astra2013/Presentations/... · 2013-08-16 · 2 Automation and Robotics Section European Space Agency Outline This presentation is